# turn signal
uint8 TURN_NONE = 0
uint8 TURN_LEFT = 1
uint8 TURN_RIGHT = 2

# horn status
bool HORN_ON = True
bool HORN_OFF = False

# window action status
uint8 LEFT_WINDOW_NONE = 0
uint8 LEFT_WINDOW_UP = 1
uint8 LEFT_WINDOW_DOWN = 2
uint8 RIGHT_WINDOW_NONE = 0
uint8 RIGHT_WINDOW_UP = 1
uint8 RIGHT_WINDOW_DOWN = 2

# clearance lamp status
bool CLEARANCE_LAMP_ON = True
bool CLEARANCE_LAMP_OFF = False

# beam status
uint8 BEAM_OFF = 0
uint8 HIGH_BEAM_ON = 1
uint8 LOW_BEAM_ON = 2

# igv beam status
uint8 IGV_BEAM_OFF = 0
uint8 IGV_FRONT_BEAM_ON = 1
uint8 IGV_REAR_BEAM_ON = 2
uint8 IGV_BOTH_BEAM_ON = 3

# wiper status
uint8 WIPER_OFF = 0
uint8 WIPER_HIGH = 1
uint8 WIPER_SLOW = 2
uint8 WIPER_INTERMITTENT = 3
uint8 WIPER_WASH_CLEAN = 4

# brake lamp status
bool BRAKE_LAMP_ON = True
bool BRAKE_LAMP_OFF = False

# fog light status
bool FOG_LIGHT_ON = True
bool FOG_LIGHT_OFF = False

# alarm lamp status
bool ALARM_LAMP_ON = True
bool ALARM_LAMP_OFF = False

std_msgs/Header header
float64 throttle
float64 brake
float64 steering_rate
float64 steering_target
float64 speed
float64 ref_speed
float64 acceleration
bool parking_brake
uint8 lidar_detect_danger_state
uint8 gear_location

uint8 driving_mode

bool hydralic_brake
bool reset_fault
bool bypass_fault

uint8 steer_mode
bool lift_mode
MotorControl motor1_control
MotorControl motor2_control
BcmSignal bcm_signal

float64 axle1_wheel_angle
float64 axle2_wheel_angle
float64 axle3_wheel_angle
float64 axle4_wheel_angle

string block_id
string lane_id
uint8 task_type
uint8 mode_code